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Added Rtabmap/StartNewMapOnGoodSignature parameter

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matlabbe
2018-05-24 14:53:47 -04:00
parent 4df9ac995a
commit d34a529116
7 changed files with 108 additions and 28 deletions
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corelib/src/Memory.cpp
+3 -3
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@@ -3548,10 +3548,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
int treeSize= int(_workingMem.size() + _stMem.size());
int meanWordsPerLocation = 0;
if(treeSize > 0)
int meanWordsPerLocation = _feature2D->getMaxFeatures()>0?_feature2D->getMaxFeatures():0;
if(treeSize > 1)
{
meanWordsPerLocation = _vwd->getTotalActiveReferences() / treeSize;
meanWordsPerLocation = _vwd->getTotalActiveReferences() / (treeSize-1); // ignore virtual signature
}
if(_parallelized && !isIntermediateNode)